https://murray.cds.caltech.edu/index.php?action=history&feed=atom&title=Nonlinear_Lateral_Control_Strategy_for_Nonholonomic_Vehicles 2026-04-26T17:45:24Z Revision history for this page on the wiki MediaWiki 1.41.5 https://murray.cds.caltech.edu/index.php?title=Nonlinear_Lateral_Control_Strategy_for_Nonholonomic_Vehicles&diff=19830&oldid=prev 2016-05-15T06:17:16Z

<p>htdb2wiki: creating page for 2007l_lsm08-acc.html</p> <p><b>New page</b></p><div>{{HTDB paper<br /> | authors = Magnus Linderoth, Kristian Soltesz, Richard M Murray<br /> | title = Nonlinear Lateral Control Strategy for Nonholonomic Vehicles <br /> | source = American Control Conference<br /> | year = 2008<br /> | type = Preprint<br /> | funding = <br /> | url = http://www.cds.caltech.edu/~murray/preprints/lsm08-acc.pdf<br /> | abstract = This paper proposes an intuitive nonlinear lateral control strategy for trajectory tracking in autonomous <br /> nonholonomic vehicles. The controller has been implemented and verified in Alice, Team Caltech&#039;s contribution to the 2007 DARPA Urban Challenge competition for autonomous <br /> motorcars. A kinematic model is derived. The control law is described and analyzed. Results from simulations and field tests are given and evaluated. Finally, the key features of the proposed controller are reviewed, followed by a discussion of some limitations of the proposed strategy.<br /> | flags = <br /> | tag = lsm08-acc<br /> | id = 2007l<br /> }}</div>

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